Direct tilt angle control on inverted pendulum mobile robots

Yuta Shimizu, Akira Shimada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance observer using the Kalman filtering technique. The DTAC is expected to be an effective for high acceleration, and the presented observer achieves a better estimation even if tilt joint angle sensor is a poorly-resolved. Although we have presented it in the previous papers and conferences, a drawback remains and it is shown high-speed curve and fast turn motions. It seems that the tilt angle sensor attached in the pendulum body causes instable during curved and turning motions. Where the sensor consistes of a rotary encoder with two thin and light arms which touch the floor. To fix this problem, we have adopted a gyro scope and concurrently design an observer. The gyro scopes are well-known and the basic structure of the observer is the same as the one presented by S.Matsumoto,Y.Fujimoto, et.al. However, this paper describes a try combining it with our original DTAC scheme.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages234-239
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Conference

Conference2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Shimizu, Y., & Shimada, A. (2010). Direct tilt angle control on inverted pendulum mobile robots. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 234-239). [5463993] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5463993